Hugging Face's logo

Datasets:
ailab-Clemson
/
aloha_pickup_test1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
ailab-Clemson commited on
Commit
1e566ee
·
verified ·
1 Parent(s): d129e1f

Upload folder using huggingface_hub

Browse files
Files changed (14) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. data/chunk-000/episode_000001.parquet +3 -0
  3. meta/episodes.jsonl +2 -0
  4. meta/episodes_stats.jsonl +2 -0
  5. meta/info.json +197 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
  8. videos/chunk-000/observation.images.cam_high/episode_000001.mp4 +3 -0
  9. videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 +3 -0
  10. videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 +3 -0
  11. videos/chunk-000/observation.images.cam_low/episode_000000.mp4 +3 -0
  12. videos/chunk-000/observation.images.cam_low/episode_000001.mp4 +3 -0
  13. videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 +3 -0
  14. videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:df43919fb638dee94739c6b9343f8d119333fef6ba9b7c0004d9baa556ed3aea
3
+ size 19843
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c15d99e47ca450715bb92c96642e82fb4128668f69b32c9ea3de0bc925f0e6df
3
+ size 20948
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a orange ball and put it in the bin."], "length": 300}
2
+ {"episode_index": 1, "tasks": ["Grasp a orange ball and put it in the bin."], "length": 300}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "stats": {"action": {"min": [-26.806640625, 79.62890625, 79.62890625, 119.35546875, 119.53125, 2.4609375, -46.7578125, 1.142578125, 11.904762268066406, -4.921875, 124.189453125, 124.27734375, 169.62890625, 169.716796875, 0.3515625, -23.203125, 1.0546875, 93.40101623535156], "max": [4.306640625, 125.947265625, 125.947265625, 178.76953125, 178.681640625, 2.98828125, 20.654296875, 11.337890625, 100.0, -4.833984375, 124.27734375, 124.365234375, 169.8046875, 169.8046875, 0.439453125, -23.115234375, 1.23046875, 93.40101623535156], "mean": [-2.865527391433716, 108.0374984741211, 108.09257507324219, 159.34083557128906, 159.4276580810547, 2.6375975608825684, -27.575098037719727, 4.916601657867432, 88.24185180664062, -4.852734565734863, 124.23153686523438, 124.30577850341797, 169.74635314941406, 169.79278564453125, 0.4271484315395355, -23.152441024780273, 1.1452147960662842, 93.40084838867188], "std": [9.12812328338623, 15.28215217590332, 15.287282943725586, 24.98798370361328, 24.882747650146484, 0.12082647532224655, 23.48227310180664, 2.3498499393463135, 25.898513793945312, 0.03600538522005081, 0.04391022399067879, 0.041110750287771225, 0.0419493094086647, 0.030190154910087585, 0.030496923252940178, 0.04342566430568695, 0.019475247710943222, 0.0001678466796875], "count": [300]}, "observation.state": {"min": [-26.71875, 78.75, 78.75, 120.673828125, 120.849609375, 2.4609375, -46.23046875, 1.318359375, 44.651161193847656, -4.921875, 124.189453125, 124.1015625, 170.771484375, 170.771484375, 0.439453125, -22.587890625, 1.0546875, 93.21766662597656], "max": [4.306640625, 126.2109375, 126.03515625, 179.6484375, 179.736328125, 2.98828125, 20.830078125, 11.42578125, 98.60465240478516, -4.74609375, 124.27734375, 124.27734375, 170.859375, 170.859375, 0.439453125, -22.5, 1.23046875, 93.37539672851562], "mean": [-2.9068360328674316, 107.72343444824219, 107.65869140625, 160.08372497558594, 160.20220947265625, 2.707324266433716, -27.12890625, 4.967577934265137, 91.06999969482422, -4.818163871765137, 124.22409057617188, 124.1875228881836, 170.8265838623047, 170.803955078125, 0.439453125, -22.504100799560547, 1.1560547351837158, 93.3714599609375], "std": [9.064071655273438, 15.858458518981934, 15.834037780761719, 24.818206787109375, 24.706472396850586, 0.08691782504320145, 23.462596893310547, 2.3719778060913086, 16.979509353637695, 0.03452055901288986, 0.04299722984433174, 0.04535282775759697, 0.042588621377944946, 0.04227525740861893, 0.0, 0.018538223579525948, 0.03476835414767265, 0.02381228096783161], "count": [300]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36685362540849675]], [[0.37983935661764706]], [[0.3779997344771242]]], "std": [[[0.3010331491588821]], [[0.2955173526113289]], [[0.2909276166590955]]], "count": [100]}, "observation.images.cam_low": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5812219689542484]], [[0.577501466503268]], [[0.5661845588235294]]], "std": [[[0.3015497379114236]], [[0.29082762843470805]], [[0.29778009983189396]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48598745098039214]], [[0.48999316380718955]], [[0.4701062397875817]]], "std": [[[0.3052155864226714]], [[0.29378945568000586]], [[0.29914762268790757]]], "count": [100]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562611090686275]], [[0.5676253962418301]], [[0.554130018382353]]], "std": [[[0.3173512556248767]], [[0.30609070974267344]], [[0.31242107215094556]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.966666666666667], "mean": [4.983333333333333], "std": [2.8867353083961027], "count": [300]}, "frame_index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [300]}, "index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [300]}}}
2
+ {"episode_index": 1, "stats": {"action": {"min": [-26.54296875, 77.958984375, 78.046875, 114.2578125, 114.43359375, 1.58203125, -47.28515625, -0.3515625, 15.816326141357422, -4.921875, 124.189453125, 124.27734375, 169.716796875, 169.716796875, 0.3515625, -23.203125, 1.0546875, 93.40101623535156], "max": [4.74609375, 117.59765625, 117.685546875, 178.681640625, 178.681640625, 2.900390625, 21.533203125, 32.87109375, 101.53060913085938, -4.833984375, 124.27734375, 124.453125, 169.8046875, 169.8046875, 0.439453125, -23.115234375, 1.23046875, 93.40101623535156], "mean": [-2.360156297683716, 105.2645492553711, 105.3216781616211, 155.02029418945312, 155.1363067626953, 2.555859327316284, -23.823925018310547, 3.0958008766174316, 86.97979736328125, -4.858300685882568, 124.24156188964844, 124.30846405029297, 169.74591064453125, 169.7930145263672, 0.4315429627895355, -23.159473419189453, 1.146093726158142, 93.40084838867188], "std": [10.050110816955566, 15.203634262084961, 15.241215705871582, 25.607397079467773, 25.50125503540039, 0.18352694809436798, 25.34451675415039, 6.367769718170166, 27.33298110961914, 0.039317868649959564, 0.0431729219853878, 0.04262075945734978, 0.04122212901711464, 0.0298770759254694, 0.02515268325805664, 0.043944358825683594, 0.018658241257071495, 0.0001678466796875], "count": [300]}, "observation.state": {"min": [-26.455078125, 76.9921875, 76.9921875, 115.576171875, 115.83984375, 1.845703125, -46.494140625, -0.263671875, 44.80620193481445, -4.921875, 124.189453125, 124.1015625, 170.771484375, 170.771484375, 0.3515625, -22.587890625, 1.142578125, 93.21766662597656], "max": [4.658203125, 117.685546875, 117.509765625, 179.033203125, 179.12109375, 2.900390625, 21.708984375, 32.87109375, 100.31007385253906, -4.74609375, 124.27734375, 124.27734375, 170.859375, 170.859375, 0.439453125, -22.5, 1.23046875, 93.37539672851562], "mean": [-2.4228515625, 104.7134780883789, 104.6507797241211, 155.66928100585938, 155.8252410888672, 2.6153321266174316, -23.402929306030273, 3.17431640625, 90.27627563476562, -4.834277153015137, 124.21723937988281, 124.18924713134766, 170.82223510742188, 170.79283142089844, 0.43916016817092896, -22.504688262939453, 1.1748046875, 93.37409210205078], "std": [9.988073348999023, 15.805479049682617, 15.774252891540527, 25.393884658813477, 25.29620933532715, 0.15943802893161774, 25.249874114990234, 6.395841598510742, 18.28680419921875, 0.008784175850450993, 0.04088471457362175, 0.03930635750293732, 0.0434715710580349, 0.03736072778701782, 0.0050658900290727615, 0.019748779013752937, 0.042354002594947815, 0.012838119640946388], "count": [300]}, "observation.images.cam_high": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3657711580882353]], [[0.37838053104575164]], [[0.37676612336601306]]], "std": [[[0.3008332691392659]], [[0.29503030533431734]], [[0.29042797134495363]]], "count": [100]}, "observation.images.cam_low": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5813391584967321]], [[0.5792436213235295]], [[0.565773412990196]]], "std": [[[0.30550300853790496]], [[0.29513658182294]], [[0.30090352573738427]]], "count": [100]}, "observation.images.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4935194321895425]], [[0.4968042422385621]], [[0.4778248876633987]]], "std": [[[0.30783375544806163]], [[0.2960386056447915]], [[0.30164051718778484]]], "count": [100]}, "observation.images.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.560632013888889]], [[0.5717161928104576]], [[0.5584443423202614]]], "std": [[[0.319126451718851]], [[0.3079079270650041]], [[0.31436713370963865]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.966666666666667], "mean": [4.983333333333333], "std": [2.8867353083961027], "count": [300]}, "frame_index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [300]}, "index": {"min": [300], "max": [599], "mean": [449.5], "std": [86.60205925188308], "count": [300]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [300]}}}
meta/info.json ADDED
@@ -0,0 +1,197 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "aloha",
4
+ "total_episodes": 2,
5
+ "total_frames": 600,
6
+ "total_tasks": 1,
7
+ "total_videos": 8,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 18
21
+ ],
22
+ "names": [
23
+ "left_waist",
24
+ "left_shoulder",
25
+ "left_shoulder_shadow",
26
+ "left_elbow",
27
+ "left_elbow_shadow",
28
+ "left_forearm_roll",
29
+ "left_wrist_angle",
30
+ "left_wrist_rotate",
31
+ "left_gripper",
32
+ "right_waist",
33
+ "right_shoulder",
34
+ "right_shoulder_shadow",
35
+ "right_elbow",
36
+ "right_elbow_shadow",
37
+ "right_forearm_roll",
38
+ "right_wrist_angle",
39
+ "right_wrist_rotate",
40
+ "right_gripper"
41
+ ]
42
+ },
43
+ "observation.state": {
44
+ "dtype": "float32",
45
+ "shape": [
46
+ 18
47
+ ],
48
+ "names": [
49
+ "left_waist",
50
+ "left_shoulder",
51
+ "left_shoulder_shadow",
52
+ "left_elbow",
53
+ "left_elbow_shadow",
54
+ "left_forearm_roll",
55
+ "left_wrist_angle",
56
+ "left_wrist_rotate",
57
+ "left_gripper",
58
+ "right_waist",
59
+ "right_shoulder",
60
+ "right_shoulder_shadow",
61
+ "right_elbow",
62
+ "right_elbow_shadow",
63
+ "right_forearm_roll",
64
+ "right_wrist_angle",
65
+ "right_wrist_rotate",
66
+ "right_gripper"
67
+ ]
68
+ },
69
+ "observation.images.cam_high": {
70
+ "dtype": "video",
71
+ "shape": [
72
+ 480,
73
+ 640,
74
+ 3
75
+ ],
76
+ "names": [
77
+ "height",
78
+ "width",
79
+ "channels"
80
+ ],
81
+ "info": {
82
+ "video.fps": 30.0,
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.channels": 3,
86
+ "video.codec": "h264",
87
+ "video.pix_fmt": "yuv420p",
88
+ "video.is_depth_map": false,
89
+ "has_audio": false
90
+ }
91
+ },
92
+ "observation.images.cam_low": {
93
+ "dtype": "video",
94
+ "shape": [
95
+ 480,
96
+ 640,
97
+ 3
98
+ ],
99
+ "names": [
100
+ "height",
101
+ "width",
102
+ "channels"
103
+ ],
104
+ "info": {
105
+ "video.fps": 30.0,
106
+ "video.height": 480,
107
+ "video.width": 640,
108
+ "video.channels": 3,
109
+ "video.codec": "h264",
110
+ "video.pix_fmt": "yuv420p",
111
+ "video.is_depth_map": false,
112
+ "has_audio": false
113
+ }
114
+ },
115
+ "observation.images.cam_left_wrist": {
116
+ "dtype": "video",
117
+ "shape": [
118
+ 480,
119
+ 640,
120
+ 3
121
+ ],
122
+ "names": [
123
+ "height",
124
+ "width",
125
+ "channels"
126
+ ],
127
+ "info": {
128
+ "video.fps": 30.0,
129
+ "video.height": 480,
130
+ "video.width": 640,
131
+ "video.channels": 3,
132
+ "video.codec": "h264",
133
+ "video.pix_fmt": "yuv420p",
134
+ "video.is_depth_map": false,
135
+ "has_audio": false
136
+ }
137
+ },
138
+ "observation.images.cam_right_wrist": {
139
+ "dtype": "video",
140
+ "shape": [
141
+ 480,
142
+ 640,
143
+ 3
144
+ ],
145
+ "names": [
146
+ "height",
147
+ "width",
148
+ "channels"
149
+ ],
150
+ "info": {
151
+ "video.fps": 30.0,
152
+ "video.height": 480,
153
+ "video.width": 640,
154
+ "video.channels": 3,
155
+ "video.codec": "h264",
156
+ "video.pix_fmt": "yuv420p",
157
+ "video.is_depth_map": false,
158
+ "has_audio": false
159
+ }
160
+ },
161
+ "timestamp": {
162
+ "dtype": "float32",
163
+ "shape": [
164
+ 1
165
+ ],
166
+ "names": null
167
+ },
168
+ "frame_index": {
169
+ "dtype": "int64",
170
+ "shape": [
171
+ 1
172
+ ],
173
+ "names": null
174
+ },
175
+ "episode_index": {
176
+ "dtype": "int64",
177
+ "shape": [
178
+ 1
179
+ ],
180
+ "names": null
181
+ },
182
+ "index": {
183
+ "dtype": "int64",
184
+ "shape": [
185
+ 1
186
+ ],
187
+ "names": null
188
+ },
189
+ "task_index": {
190
+ "dtype": "int64",
191
+ "shape": [
192
+ 1
193
+ ],
194
+ "names": null
195
+ }
196
+ }
197
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a orange ball and put it in the bin."}
videos/chunk-000/observation.images.cam_high/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be25671bdac0feae9a40bfa6f1b3acb6053d0bd6c3398bb6085014a81a6bb740
3
+ size 1380253
videos/chunk-000/observation.images.cam_high/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff864ab2117d869d4c19449ab0b6c22719573a54167c145434561c35853bbb06
3
+ size 1380129
videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:874fb2e5332f0991d8afbade1b1eb0db16d3046805e9deca9cf3f5d57a1fe2bb
3
+ size 1086912
videos/chunk-000/observation.images.cam_left_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:41c3c6862281e75ae30cb5a9a9ad127ad8b07b526c5385ce6e690dd98206f859
3
+ size 1026644
videos/chunk-000/observation.images.cam_low/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:966c78f00b17fabfcf3c3047559f68efd8053a971be18dabc352b7ae6664d610
3
+ size 1306792
videos/chunk-000/observation.images.cam_low/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b105b6c91d5ef4a5228d0b115e442efe2d1446aa254aba37fc625ec49b5acfb
3
+ size 1319757
videos/chunk-000/observation.images.cam_right_wrist/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07621e360189095414c18c680e0d3c0711dd371505ceb7ad1dd9b3754713b4ff
3
+ size 955407
videos/chunk-000/observation.images.cam_right_wrist/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9156105f7458e30bb2165a80d1c9a9a845d58dc8185dd6faf9d81449f08509eb
3
+ size 978321